Work equipment

Abstract

The challenge is to properly mount polarized electronic components onto a circuit board. [Solution] A work machine comprising a supply device that supplies electronic components on which identification information for identifying polarity is written, a mounting head that holds the electronic components supplied by the supply device and mounts them on a substrate, a first imaging device that captures the identification information of the electronic components mounted on the substrate, and a control device, wherein the control device determines whether the polarity of the electronic components mounted on the substrate is normal based on the imaging data of the identification information captured by the first imaging device, and the mounting head holds the electronic components that the control device has determined to be abnormal, changes the orientation of the electronic components so that the polarity is normal, and then remounts the electronic components on the substrate.

Description

Technical Field

[0001] The present invention relates to a working machine for mounting a polar electronic component on a substrate.

Background Art

[0002] The following patent documents describe a technique for mounting a polar electronic component on a substrate. [[ID=·14]]

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object is to appropriately mount a polar electronic component on a substrate.

Means for Solving the Problems

[0005] To solve the above problems, this specification discloses a working machine including a supply device that supplies an electronic component on which identification information for identifying polarity is described, a mounting head that holds the electronic component supplied by the supply device and mounts it on a substrate, a first imaging device that images the identification information of the electronic component mounted on the substrate, and a control device. The control device determines whether the polarity of the electronic component mounted on the substrate is normal based on the imaging data of the identification information imaged by the first imaging device. The mounting head holds an electronic component determined by the control device to be abnormal, changes the posture of the electronic component so that the polarity becomes normal, and then remounts the electronic component on the substrate.

Effects of the Invention

[0006] In this disclosure, an electronic component mounted on a substrate with incorrect polarity is held by a mounting head, its orientation is changed to correct polarity, and then the electronic component is remounted on the substrate. This allows for the proper mounting of polarized electronic components on a substrate. [Brief explanation of the drawing]

[0007] [Figure 1] This is a perspective view showing a component mounting device. [Figure 2] This is a perspective view showing a component mounting device. [Figure 3] This is a perspective view showing the work head. [Figure 4] This diagram shows electronic components placed on a tray. [Figure 5] These are top and side views of an electronic component. [Figure 6] This is a perspective view showing tape-type components. [Figure 7] Control device branch. [Figure 8] This diagram shows an electronic component mounted on a circuit board, viewed from the side. [Figure 9] This diagram shows electronic components mounted on a circuit board, viewed from above. [Figure 10] This diagram shows a radial component mounted on a circuit board, viewed from the side. [Figure 11] This diagram shows electronic components mounted on a circuit board, viewed from above. [Figure 12] This diagram shows electronic components placed on a tray. [Modes for carrying out the invention]

[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the figures, as embodiments for carrying out the present invention.

[0009] Figure 1 shows a component mounting device 10. The component mounting device 10 is a device for performing the operation of mounting components onto a circuit board 12. The component mounting device 10 comprises a main unit 20, a substrate transport and holding device 22, a component mounting device 24, a mark camera 26, a parts camera 28, a loose component supply device 30, a component supply device 32, and a control device (see Figure 7) 34. The circuit board 12 can be a printed wiring board, a printed circuit board, or the like.

[0010] The main body of the device 20 consists of a frame 40 and a beam 42 suspended on the frame 40. The substrate transport and holding device 22 is located in the center of the frame 40 in the front-rear direction and has a transport device 50 and a clamping device 52. The transport device 50 is a device for transporting the circuit substrate 12, and the clamping device 52 is a device for holding the circuit substrate 12. Thus, the substrate transport and holding device 22 transports the circuit substrate 12 and also holds the circuit substrate 12 fixedly in a predetermined position. In the following description, the transport direction of the circuit substrate 12 is referred to as the X direction, the horizontal direction perpendicular to that direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction. In other words, the width direction of the component mounting device 10 is the X direction, and the front-rear direction is the Y direction.

[0011] The component mounting device 24 is mounted on the beam 42 and has two work heads 60 and 62 and a work head moving device 64. The work head moving device 64 has an X-direction moving device 65, a Y-direction moving device 66, and a Z-direction moving device 67. The two work heads 60 and 62 are moved integrally to any position on the frame 40 by the X-direction moving device 65 and the Y-direction moving device 66. In addition, as shown in Figure 2, each work head 60 and 62 is detachably mounted on sliders 68 and 69, and the Z-direction moving device 67 moves the sliders 68 and 69 individually in the vertical direction. In other words, the work heads 60 and 62 are moved individually in the vertical direction by the Z-direction moving device 67.

[0012] Also, the work heads 60 and 62 are for mounting components on the circuit base material 12. As shown in FIG. 3, the work heads 60 and 62 are provided with eight rod-shaped mounting units 70. Those eight mounting units 70 are held on the outer peripheral portion of the unit holder 71 at an equal angular pitch in a state where the axial direction is perpendicular, and suction nozzles 72 are mounted on the tip ends of the respective mounting units 70. And the suction nozzles 72 mounted on the tip ends of the mounting units 70 extend downward from the lower surface of the unit holder 71. Note that in FIG. 3, the work heads 60 and 62 with the covers removed are shown.

[0013] Also, the unit holder 71 is intermittently rotated by an electromagnetic motor (see FIG. 7) 74 of the holder rotation device 73 for each arrangement angle of the mounting units 70. Thereby, the mounting units 70 sequentially stop at the lifting station which is one of the stop positions of the plurality of mounting units 70. And the mounting unit 70 located at that lifting station is lifted and lowered by an electromagnetic motor (see FIG. 7) 76 of the unit lifting device 75. Thereby, the vertical position of the component held by the suction nozzle 72 is changed. Also, the work heads 60 and 62 have a rotation device 77, and the mounting units 70 are rotated by an electromagnetic motor (see FIG. 7) 79 of the rotation device 77. Thereby, the holding posture of the component held by the suction nozzle 72 can be adjusted.

[0014] Also, as shown in FIG. 2, the mark camera 26 is attached to the slider 68 in a downward-facing state and moves in the X direction and the Y direction together with the work head 60. Thereby, the mark camera 26 images an arbitrary position on the frame 40. Also, as shown in FIG. 1, the parts camera 28 is disposed between the base material conveyance and holding device 22 and the component supply device 32 on the frame 40 in an upward-facing state. Thereby, the parts camera 28 images the components held by the suction nozzles 72 of the work heads 60 and 62.

[0015] The rose component supply device 30 is disposed at one end of the frame 40 in the front-rear direction. The rose component supply device 30 is a device that aligns a plurality of components scattered in a scattered state and supplies the components in the aligned state. That is, it is a device that aligns a plurality of components in an arbitrary posture into a predetermined posture and supplies the components in the predetermined posture.

[0016] The component supply device 32 is disposed at the other end of the frame 40 in the front-rear direction. The component supply device 32 has a tray-type component supply device 78 and a feeder-type component supply device 80. As shown in FIG. 4, the tray-type component supply device 78 is a device that supplies the electronic component 88 in a state of being placed on the tray 86. The electronic component 88 is generally composed of a component body 90 having a rectangular parallelepiped shape and four terminals 92. The four terminals 92 are arranged in pairs of two on opposite surfaces of the component body 90, and each terminal 92 extends in a direction away from the component body 90 and then bends downward.

[0017] Further, an identification mark 96 is provided on the upper surface side of the component body 90 of the electronic component 88. The identification mark 96 is a mark for identifying the polarity of the terminal 92, and the terminal located near the identification mark 96 indicates that it is the cathode. For this reason, the two terminals 92a located near the identification mark 96 are the cathode (negative electrode, minus electrode), and the two terminals 92b different from the two terminals 92a are the anode (positive electrode, plus electrode).

[0018] The feeder-type component supply device 80 is a device that supplies components by the tape feeder 98. As shown in FIG. 1, the tape feeder 98 is detachably mounted on a tape feeder holding base 99 fixedly provided at the other end of the frame 40. The tape feeder 98 is a device that separates the radial component from the taped component (see FIG. 7) 100 and supplies the separated radial component.

[0019] As shown in Figure 6, the tape-type component 100 is composed of a plurality of radial components 102 and a carrier tape 104. Each radial component 102 includes a generally cylindrical component body 106 and two leads 108. The two leads 108 are generally straight and extend from one end face of the component body 106 parallel to the axial direction of the component body 106. The ends of the two leads 108, that is, the ends opposite to the component body 106, are taped to the carrier tape 104.

[0020] The tape feeder 98 separates the radial component 102 from the tape component 100 and supplies the separated radial component 102. Since the tape feeder 98 has a known structure, it will be briefly described as follows: the tape component 100 extends from the upper surface of the tape feeder 98 so as to extend in the front-rear direction. The tape component 100 is extended so that the leads 108 of the radial component 102 extend in the vertical direction. The tape component 100 is then fed toward the supply position by the feeder (see Figure 7) 110, and at the supply position, the leads 108 taped to the carrier tape 104 are cut by the cutting device (see Figure 7) 112. As a result, the tape feeder 98 separates the radial component 102 from the tape component 100 and supplies the separated radial component 102.

[0021] Furthermore, an identification mark 116 is marked on the side of the component body 106 of each radial component 102. The identification mark 116 is a mark used to identify the polarity of the two leads 108, and the lead located near the identification mark 116 indicates that it is the cathode. Therefore, the lead 108a located below the identification mark 116 is the cathode, and the lead 108b, which is different from lead 108a, is the anode. The identification mark 116 is marked on the side of the component body 106 of the radial component 102 so as to extend vertically, and the upper end of the identification mark 116 extends slightly towards the top surface of the component body 106. In other words, the identification mark 116 extends vertically along the side of the component body 106 and is marked all the way to the top surface of the component body 106.

[0022] Furthermore, as shown in Figure 7, the control device 34 includes a controller 120, a plurality of drive circuits 122, and an image processing device 126. The plurality of drive circuits 122 are connected to the transport device 50, clamp device 52, electromagnetic motors 74, 76, 79, work head moving device 64, loose parts supply device 30, tray-type parts supply device 78, delivery device 110, and cutting device 112. The controller 120 is a computer-based system equipped with a CPU, ROM, RAM, etc., and is connected to the plurality of drive circuits 122. As a result, the operation of the substrate transport and holding device 22, the parts mounting device 24, etc., is controlled by the controller 120. The controller 120 is also connected to the image processing device 126. The image processing device 126 processes image data obtained by the mark camera 26 and the parts camera 28, and the controller 120 acquires various information from the image data.

[0023] In the component mounting apparatus 10, component mounting is performed on the circuit board 12 held by the substrate transport and holding device 22 using the configuration described above. The component mounting apparatus 10 can mount various components on the circuit board 12, but the case in which electronic components 88 supplied on a tray 86, or radial components 102 supplied by a tape feeder 98 are mounted on the circuit board 12 will be described below.

[0024] Specifically, the transport device 50 transports the circuit board 12 to the work position, where the clamping device 52 holds the circuit board 12 in place. Next, the mark camera 26 moves above the circuit board 12 and images the circuit board 12. At this time, if the component to be mounted is an electronic component 88, the controller 120 calculates information regarding the positions of the four through holes (see Figures 8 and 9) 130 formed in the circuit board 12 based on the image data of the circuit board 12.

[0025] Furthermore, the work heads 60 and 62 move above the tray 86 and hold the electronic component 88 with the suction nozzle 72. However, as mentioned above, since the electronic component 88 has polarity, it is necessary to mount the electronic component 88 on the circuit board 12 while considering the polarity arrangement of the terminals 92 of the electronic component 88. For this reason, before the work heads 60 and 62 hold the electronic component 88, the mark camera 26 moves above the electronic component 88 to be held and images the electronic component 88. Based on this, the controller 120 analyzes the position of the identification mark 96 based on the image data and calculates the polarity arrangement of the terminals 92 of the electronic component 88. In other words, the controller 120 calculates that the two terminals 92a located near the identification mark 96 are cathodes, and the two terminals 92b that are different from those two terminals 92a are anodes. Then, the work heads 60 and 62 hold the electronic component 88 with the suction nozzle 72.

[0026] Next, the work heads 60 and 62 move above the parts camera 28, and the parts camera 28 images the electronic component 88 held by the suction nozzle 72. Based on the image data of the electronic component 88, the controller 120 calculates information regarding the tip positions of each of the four terminals 92 of the electronic component 88. Subsequently, the work heads 60 and 62 move above the circuit board 12 and adjust the holding posture of the held electronic component 88 based on information regarding the positions of the through holes 130 formed in the circuit board 12 and the tip positions of the terminals 92 of the electronic component 88 held by the suction nozzle 72. At this time, the movement and holding posture of the work heads 60 and 62 are adjusted so that the positions of the four through holes 130 formed in the circuit board 12 and the tip positions of the four terminals 92 of the electronic component 88 held by the suction nozzle 72 coincide in the vertical direction. Furthermore, two of the four through-holes 130a are for inserting the cathode terminals 92a, and the remaining two through-holes 130b are for inserting the anode terminals 92b. Therefore, the movement and holding posture of the work heads 60 and 62 are adjusted so that the positions of the two through-holes 130a of the circuit board 12 coincide with the tip positions of the two terminals 92a of the electronic component 88 in the vertical direction, and the positions of the two through-holes 130b of the circuit board 12 coincide with the tip positions of the two terminals 92b of the electronic component 88 in the vertical direction. Then, as the work heads 60 and 62 descend, the two terminals 92a of the electronic component 88 are inserted into the two through-holes 130a of the circuit board 12, and the two terminals 92b of the electronic component 88 are inserted into the two through-holes 130b of the circuit board 12. As a result, as shown in Figures 8 and 9, the electronic component 88 is mounted on the circuit board 12 with its polarity in the correct position.

[0027] Furthermore, even when the component to be mounted is a radial component 102, the transport device 50 transports the circuit board 12 to the work position, where the clamp device 52 holds the circuit board 12 in place. Then, the mark camera 26 moves above the circuit board 12 and images the circuit board 12. At this time, the controller 120 calculates information regarding the positions of the two through holes (see Figure 10) 132 formed in the circuit board 12 based on the image data of the circuit board 12.

[0028] Furthermore, the tape feeder 98 supplies the radial component 102, which has been detached from the tape component 100 at a predetermined supply position. Then, the work heads 60 and 62 move above the supply position of the tape feeder 98 and hold the radial component 102 with the suction nozzle 72. However, as mentioned above, the radial component 102 also has polarity, so it is necessary to mount the radial component 102 on the circuit board 12 considering the polarity arrangement of the leads 108 of the radial component 102. For this reason, before the work heads 60 and 62 hold the radial component 102, the mark camera 26 moves above the radial component 102 and images the radial component 102. As a result, the controller 120 analyzes the position of the identification mark 116 based on the image data and calculates the polarity arrangement of the leads 108 of the radial component 102. In other words, the controller 120 calculates that the lead 108a located near the identification mark 116 is the cathode, and the lead 108b, which is different from lead 108a, is the anode. Then, the work heads 60 and 62 hold the radial component 102 by the suction nozzle 72.

[0029] Next, the work heads 60 and 62 move above the part camera 28, and the part camera 28 images the radial component 102 held by the suction nozzle 72. Based on the image data of the radial component 102, the controller 120 calculates information regarding the tip positions of each of the pair of leads 108 of the radial component 102. Subsequently, the work heads 60 and 62 move above the circuit board 12 and adjust the holding posture of the held radial component 102 based on information regarding the position of the through holes 132 formed in the circuit board 12 and the tip positions of the leads 108 of the radial component 102 held by the suction nozzle 72. At this time, the movement and holding posture of the work heads 60 and 62 are adjusted so that the position of the pair of through holes 132 formed in the circuit board 12 and the tip positions of the pair of leads 108 of the radial component 102 held by the suction nozzle 72 coincide in the vertical direction. Furthermore, one of the pair of through holes 132, the 130a, is for inserting the cathode lead 108a, and the other through hole 132b is for inserting the anode lead 108b. Therefore, the movement and holding posture of the work heads 60 and 62 are adjusted so that the position of the through hole 132a in the circuit board 12 coincides with the tip position of one lead 108a of the radial component 102 in the vertical direction, and the position of the through hole 132b in the circuit board 12 coincides with the tip position of the other lead 108b of the radial component 102 in the vertical direction. Then, as the work heads 60 and 62 descend, one lead 108a of the radial component 102 is inserted into the through hole 132a of the circuit board 12, and the other lead 108b of the radial component 102 is inserted into the through hole 132b of the circuit board 12. As a result, as shown in Figure 10, the radial component 102 is mounted on the circuit board 12 with its polarity in the correct position.

[0030] In this way, the electronic component 88 or radial component 102 supplied at the supply position is imaged by the mark camera 26, and the polarity arrangement of the terminal 92 or lead 108 is calculated based on the imaged data, so that the electronic component 88 or radial component 102 can be mounted on the circuit board 12 with the correct polarity. However, although both the work heads 60, 62 and the mark camera 26 move on the frame 40 by the operation of the work head moving device 64, as shown in Figure 2, the positioning of the work heads 60, 62 and the mark camera 26 is misaligned, and the mark camera 26 is positioned further away from the tray-type component supply device 78 than from the work heads 60, 62. For this reason, the work heads 60, 62 can move above all of the electronic components 88 among the multiple electronic components 88 placed on the tray 86, but the mark camera 26 can only move above some of the electronic components 88 among the multiple electronic components 88 placed on the tray 86. Specifically, for example, the mark camera 26 can move above an electronic component 88 placed inside the dashed-dotted line 140 shown in Figure 4, but it cannot move above an electronic component 88 placed inside the dotted line 142. In other words, the area inside the dashed-dotted line 140 is within the range of movement of the mark camera 26, but the area inside the dotted line 142 is outside the range of movement of the mark camera 26. Therefore, the mark camera 26 can image an electronic component 88 placed inside the dashed-dotted line 140, but it cannot image an electronic component 88 placed inside the dotted line 142. In other words, the controller 120 can calculate the polarity arrangement of an electronic component 88 placed inside the dashed-dotted line 140 before it is mounted on the circuit board 12, but the controller 120 cannot calculate the polarity arrangement of an electronic component 88 placed inside the dotted line 142 before it is mounted on the circuit board 12. Therefore, it is not possible to guarantee that the electronic component 88, which is placed inside the dotted line 142, will be mounted on the circuit board 12 with the correct polarity.

[0031] Furthermore, since the component mounting device 10 is also equipped with a part camera 28 in addition to the mark camera 26, it is possible to image the electronic components 88 held by the work heads 60 and 62 from a downward viewpoint. However, the identification mark 96 is marked on the upper surface of the component body 90 of the electronic component 88. For this reason, the controller 120 cannot calculate the position of the identification mark 96 based on the image data from the part camera 28, and therefore cannot calculate the polarity arrangement of the electronic component 88 before mounting the electronic component 88.

[0032] In light of this, the controller 120 does not calculate the polarity arrangement of terminals 92 before mounting the electronic component 88, but calculates the polarity arrangement of terminals 92 after mounting the electronic component 88 to determine whether the polarity arrangement of terminals 92 is correct. If the polarity arrangement of terminals 92 of the mounted electronic component 88 is not correct, the work heads 60 and 62 hold the electronic component mounted on the circuit board 12 and remount the held electronic component 88 to the circuit board 12.

[0033] Specifically, the mark camera 26 does not image the electronic component 88 before the work heads 60 and 62 pick up the electronic component 88 from the tray 86. Then, when the work heads 60 and 62 pick up the electronic component 88, they move above the part camera 28, and the part camera 28 images the electronic component 88 held by the work heads 60 and 62. Based on the image data of the electronic component 88, the controller 120 calculates information regarding the tip position of each of the four terminals 92 of the electronic component 88.

[0034] Furthermore, before or after the work head holds the electronic component 88, the mark camera 26 moves above the circuit board 12 and images the circuit board 12. At this time, the controller 120 calculates information regarding the positions of the four through holes 130 formed in the circuit board 12 based on the image data. Then, the movement and holding posture of the work heads 60 and 62 are adjusted so that the positions of the four through holes 130 formed in the circuit board 12 and the tip positions of the four terminals 92 of the electronic component 88 held by the suction nozzle 72 coincide in the vertical direction. At this time, the polarity arrangement of the terminals 92 is not calculated, so the movement and holding posture of the work heads 60 and 62 are adjusted without considering the polarity arrangement of the terminals 92. Then, as the work heads 60 and 62 descend, the four terminals 92 of the electronic component 88 are inserted into the four through holes 130 of the circuit board 12, and the electronic component 88 is mounted on the circuit board 12.

[0035] However, since the electronic component 88 is mounted on the circuit board 12 without considering the polarity arrangement of terminals 92, as shown in Figure 11, there are cases where both terminals 92a of the electronic component 88 are inserted into the two through holes 130b of the circuit board 12, and both terminals 92b of the electronic component 88 are inserted into the two through holes 130a of the circuit board 12. In other words, there are cases where the electronic component 88 is mounted on the circuit board 12 with incorrect polarity. On the other hand, as shown in Figure 9, there are cases where both terminals 92a of the electronic component 88 are inserted into the two through holes 130a of the circuit board 12, and both terminals 92b of the electronic component 88 are inserted into the two through holes 130b of the circuit board 12. In other words, there are cases where the electronic component 88 is mounted on the circuit board 12 with correct polarity. Therefore, when the electronic component 88 is mounted on the circuit board 12 without considering the polarity arrangement of terminals 92, the mark camera 26 moves above the circuit board 12 and images the electronic component 88 mounted on the circuit board 12. Then, the controller 120 analyzes the position of the identification mark 96 based on the image data and calculates the polarity arrangement of terminals 92 of the electronic component 88. At this time, the controller 120 determines whether the polarity of the electronic component 88 mounted on the circuit board 12 is normal. In other words, the controller 120 determines whether two terminals 92a are inserted into two through holes 130a and two terminals 92b are inserted into two through holes 130b. At this time, the controller 120 determines that the electronic component 88 is mounted on the circuit board 12 with normal polarity if two terminals 92a are inserted into two through holes 130a and two terminals 92b are inserted into two through holes 130b. Thus, when it is determined that the electronic component 88 is mounted on the circuit board 12 with the correct polarity, the mounting process for the electronic component 88 is completed.

[0036] On the other hand, the controller 120 determines that the electronic component 88 is mounted on the circuit board 12 with incorrect polarity if two terminals 92a are inserted into two through holes 130b and two terminals 92b are inserted into two through holes 130a. When it is determined that the electronic component 88 is mounted on the circuit board 12 with incorrect polarity, the work heads 60 and 62 rise while holding the electronic component 88. As a result, the terminals 92 of the electronic component 88 held by the work heads 60 and 62 are pulled out from the through holes 130. In other words, as shown in Figure 11, the two terminals 92a inserted into the two through holes 130b and the two terminals 92b inserted into the two through holes 130a are pulled out from each through hole 130. Then, the rotation device 77 operates and the suction nozzle 72 rotates 180 degrees. At this time, the movement and holding posture of the work heads 60 and 62 are adjusted so that the positions of the four through holes 130 formed in the circuit board 12 and the tip positions of the four terminals 92 of the electronic component 88 held by the suction nozzle 72 coincide in the vertical direction.

[0037] In this way, by rotating the suction nozzle 72 180 degrees, the positions of the four through holes 130 and the tip positions of the four terminals 92 are aligned vertically, so that the positions of the two through holes 130a and the tip positions of the two terminals 92a are aligned vertically, and the positions of the two through holes 130b and the tip positions of the two terminals 92b are aligned vertically. Then, as the work heads 60 and 62 descend, the two terminals 92a of the electronic component 88 are inserted into the two through holes 130a of the circuit board 12, and the two terminals 92b of the electronic component 88 are inserted into the two through holes 130b of the circuit board 12. As a result, the electronic component 88 is reattached to the circuit board 12 with the correct polarity. In other words, an electronic component 88 that has been mounted on the circuit board 12 with incorrect polarity is automatically held by the work head, and the suction nozzle 72 rotates 180 degrees, making it possible to reattach the electronic component 88 to the circuit board with correct polarity. This reduces the burden on the worker and shortens the cycle time.

[0038] Specifically, in conventional component mounting equipment, the mark camera 26 imaged the electronic components 88 mounted on the circuit board 12, and the controller 120 analyzed the position of the identification mark 96 based on the image data to calculate the polarity arrangement of the terminals 92 of the electronic components 88. The controller 120 then determined whether the polarity of the electronic components 88 mounted on the circuit board 12 was normal or not. However, if it was determined that the polarity of the electronic components 88 mounted on the circuit board 12 was not normal, the component mounting equipment would stop operating and an error notification would be issued. Then, the worker would check the electronic components 88 mounted on the circuit board 12 and manually reattach the electronic components 88 to the circuit board with the correct polarity. In this way, if the component mounting equipment stops every time it is determined that the polarity of the electronic components 88 mounted on the circuit board 12 is not normal, the cycle time will increase. Also, if the worker has to manually reattach the electronic components 88 every time it is determined that the polarity of the electronic components 88 mounted on the circuit board 12 is not normal, it will place a heavy burden on the worker.

[0039] On the other hand, in the component mounting device 10, if it is determined that the polarity of an electronic component 88 mounted on the circuit board 12 is not normal, the electronic component 88 is automatically held by the work head, and the suction nozzle 72 rotates 180 degrees, so that the electronic component 88 is reattached to the circuit board with the correct polarity. In this way, if it is determined that the polarity of an electronic component 88 mounted on the circuit board 12 is not normal, the electronic component 88 is automatically reattached to the circuit board 12 without stopping the operation of the component mounting device 10, thereby reducing the burden on the operator and shortening the cycle time.

[0040] When the electronic component 88 is reattached to the circuit board 12, a first reattachment operation is selectively performed in which the parts camera 28 re-images the electronic component 88 and reattaches it after the suction nozzle 72 has been rotated 180 degrees, in order to align the positions of the four through holes 130 with the tip positions of the four terminals 92 in the vertical direction, and a second reattachment operation is performed in which the electronic component 88 is reattached without the parts camera 28 re-images it. Specifically, the operator can arbitrarily set which of the first and second reattachment operations is performed in the component mounting apparatus 10. In the first reattachment operation, the work head holds the electronic component 88 which has been determined to have abnormal polarity, and after the suction nozzle 72 has been rotated 180 degrees, the parts camera 28 re-images the electronic component 88 held by the work head. At this time, the controller 120 calculates information regarding the tip position of each of the four terminals 92 of the electronic component 88 based on the image data of the re-imaged electronic component 88 (hereinafter referred to as "re-image data"). Then, using the tip positions of the terminals 92 calculated based on the re-image data, the movement and holding posture of the work heads 60 and 62 are adjusted so that the positions of the four through holes 130 of the circuit board 12 and the tip positions of the four terminals 92 of the electronic component 88 coincide in the vertical direction. After that, the work heads 60 and 62 descend, and the electronic component 88 is mounted on the circuit board 12 with the correct polarity. In other words, in the first re-mounting operation, the work head holds the electronic component 88 which has been determined to have incorrect polarity, and after the suction nozzle 72 rotates 180 degrees, the parts camera 28 re-images the electronic component 88, and the re-mounting operation is performed using the information regarding the tip positions of the terminals 92 calculated based on the re-image data. This ensures that the terminals 92 are reliably inserted into the through holes 130 during the re-mounting operation.

[0041] On the other hand, in the second re-mounting operation, the work head holds the electronic component 88 which has been determined to have abnormal polarity, and after the suction nozzle 72 rotates 180 degrees, the parts camera 28 does not re-image the electronic component 88 held by the work head. Therefore, the re-mounting operation is performed using the tip position of the terminal 92 that was used when the electronic component 88 which has been determined to have abnormal polarity was first mounted on the circuit board 12. In other words, before the electronic component 88 which has been determined to have abnormal polarity is first mounted on the circuit board 12, the electronic component 88 is imaged by the parts camera 28 while being held by the work head, and the controller 120 calculates the tip position of the terminal 92 of the electronic component 88 based on the image data of the electronic component 88 (hereinafter referred to as "pre-mounting image data"). Therefore, the controller 120 calculates the tip position of the terminal 92 after the 180-degree rotation, assuming that the tip position of the terminal 92 calculated based on the pre-mounting image data has been rotated 180 degrees. Then, using the tip position of the terminals 92 after 180 degrees of rotation, the movement and holding posture of the work heads 60 and 62 are adjusted so that the positions of the four through holes 130 in the circuit board 12 and the tip positions of the four terminals 92 of the electronic component 88 coincide in the vertical direction. After that, the work heads 60 and 62 descend, and the electronic component 88 is mounted on the circuit board 12 with the correct polarity. In other words, in the second re-mounting operation, the work head holds the electronic component 88 which has been determined to have incorrect polarity, and after the suction nozzle 72 rotates 180 degrees, the re-mounting operation is performed using information on the tip position of the terminals 92 calculated based on the pre-mounting image data, without the parts camera 28 re-imaging the electronic component 88. As a result, the time required for the re-mounting operation can be shortened by performing the re-imaging operation without re-imaging by the parts camera 28.

[0042] In this way, for the electronic component 88 that has been reattached to the circuit board 12 by the first or second reattachment operation, it is checked again whether the polarity of the electronic component 88 is correctly positioned when it is attached to the circuit board 12. Specifically, when the electronic component 88 is reattached to the circuit board 12 by the first or second reattachment operation, the mark camera 26 images the reattached electronic component 88, and the controller 120 analyzes the position of the identification mark 96 based on the image data and calculates the polarity arrangement of the terminals 92 of the electronic component 88. The controller 120 then determines whether the polarity of the electronic component 88 that has been reattached to the circuit board 12 is correct. In other words, the controller 120 determines whether the two terminals 92a are inserted into the two through holes 130a and the two terminals 92b are inserted into the two through holes 130b. In this way, by checking again whether the polarity of the electronic component 88, which has been reattached to the circuit board 12, is correct, the electronic component 88 can be reliably attached to the circuit board 12 with the correct polarity.

[0043] Furthermore, based on the imaging data of the electronic components 88 mounted on the circuit board 12, it is determined whether the polarity is normal or not. If the polarity is not normal, the operation to remount the electronic components 88 is performed for all electronic components 88 placed on the tray 86. As described above, the controller 120 can calculate the polarity arrangement of the electronic components 88 placed inside the dashed line 140 in Figure 4 before they are mounted on the circuit board 12, but the controller 120 cannot calculate the polarity arrangement of the electronic components 88 placed inside the dotted line 142 before they are mounted on the circuit board 12. Considering this, it is conceivable that the above-described remounting operation for the electronic components 88 is performed only for the electronic components 88 placed inside the dotted line 142, and for the electronic components 88 placed inside the dashed line 140, the polarity arrangement of the terminals 92 is calculated based on the imaging data of the electronic components 88 before mounting, and the mounting operation for the electronic components 88 is performed using the calculated polarity arrangement. However, performing different mounting operations depending on the position on the tray 86 may complicate control. Taking this into consideration, the above-described remounting operation for electronic components 88 is performed on all electronic components 88 placed on the tray 86.

[0044] Furthermore, in the reattachment operation of the electronic component 88 described above, the initial attachment of the electronic component 88 to the circuit board 12, imaging of the attached electronic component 88 by the mark camera 26, holding of the electronic component with incorrect polarity by the work head, and reattachment of the held electronic component 88 to the circuit board 12 are performed in succession. In other words, as described above, the work heads 60 and 62 have multiple suction nozzles 72, and multiple electronic components 88 can be held simultaneously by these multiple suction nozzles 72. For this reason, for example, after an electronic component 88 held by one of the multiple suction nozzles 72 (hereinafter referred to as the "first suction nozzle") is attached to the circuit board 12, an electronic component 88 held by a suction nozzle other than the first suction nozzle (hereinafter referred to as the "second suction nozzle") can be attached to the circuit board 12. In other words, for example, if an electronic component 88 is attached to the circuit board 12 by the first suction nozzle, and then the electronic component 88 is attached to the circuit board 12 by the second suction nozzle, and then the electronic component attached by the first suction nozzle is imaged by the mark camera 26 and it is determined that the polarity is not normal, the electronic component attached by the first suction nozzle can be reattached. However, when reattaching the electronic component attached by the first suction nozzle, the attachment of the electronic component by the second suction nozzle has already been completed, so there is a risk that the electronic component to be reattached may interfere with the electronic component attached by the second suction nozzle.

[0045] Therefore, when the electronic component 88 is attached to the circuit board 12 by the first suction nozzle, the electronic component attached by the first suction nozzle is imaged by the mark camera 26 to determine whether or not its polarity is normal. If it is determined that the polarity is not normal, the first suction nozzle holds the electronic component that was determined to have abnormal polarity and reattaches it to the circuit board 12 before the electronic component 88 held by the second suction nozzle is attached to the circuit board 12. This prevents interference between components when reattaching the electronic component attached by the first suction nozzle.

[0046] The radial component 102 is supplied at the supply position of the tape feeder 98, and the supply position of the tape feeder 98 is within the movement range of the work heads 60 and 62, as well as within the movement range of the part camera 28. Therefore, for the radial component 102 supplied from the tape feeder 98, the polarity arrangement of the lead 108 is calculated based on the imaging data of the radial component 102 supplied at the supply position, and the mounting operation of the radial component 102 is performed using the calculated polarity arrangement.

[0047] As shown in Figure 12, some electronic components 150 supplied from tray 86 have identification marks 156 on their underside, not their top. In other words, like electronic component 88, electronic component 150 consists of a component body 152 and four terminals 154, with the identification marks 156 marked on the underside of the component body 152. The identification marks 156, like the identification marks 96, are used to identify the polarity of the terminals 154, indicating that the terminals located near the identification marks 156 are cathodes. Therefore, the two terminals 154a located near the identification marks 156 are cathodes, and the two terminals 154b, which are different from these two terminals 154a, are anodes. The dotted lines indicating the identification marks 156 show that they are marked on the underside of the component body 152.

[0048] Thus, in the case of an electronic component 150 in which an identification mark 156 is marked on the underside of the component body 152, even if the mark camera 26 images the electronic component 150 when it is placed on the tray 86 or when it is mounted on the circuit board 12, it is not possible to calculate the polarity arrangement of the terminals 154 based on the image data from the mark camera 26. For this reason, when mounting the electronic component 150, the polarity arrangement of the terminals 154 is calculated based on the image data of the electronic component 150 taken by the parts camera 28, and the electronic component 150 is mounted on the circuit board 12 using the calculated polarity arrangement of the terminals 154. In other words, when the work head picks up the electronic component 150 from the tray 86, it moves above the parts camera 28, and the parts camera 28 images the electronic component 150 held by the work head. As a result, the controller 120 analyzes the position of the identification mark 156 based on the image data of the electronic component 150 and calculates the polarity arrangement of the terminals 154 of the electronic component 150. Then, using the calculated polarity arrangement of terminals 154, the movement and holding posture of the work heads 60 and 62 are adjusted so that the tip positions of the two terminals 154a and the positions of the two through holes 130a coincide in the vertical direction, and the tip positions of the two terminals 154b and the positions of the two through holes 130b coincide in the vertical direction. After that, the work heads 60 and 62 are lowered, and the electronic component 150 is mounted on the circuit board 12 with the correct polarity.

[0049] Note that the component mounting device 10 is an example of a work machine. The circuit board 12 is an example of a circuit board. The mark camera 26 is an example of a first imaging device. The parts camera 28 is an example of a second imaging device. The control device 34 is an example of a control device. The work heads 60 and 62 are examples of mounting heads. The tray-type component supply device 78 is an example of a supply device. The electronic component 88 is an example of an electronic component. The terminal 92 is an example of an electrode. The identification mark 96 is an example of identification information.

[0050] In the embodiments described above, the following effects are achieved.

[0051] The component mounting device 10 comprises a tray-type component supply device 78, work heads 60 and 62, a mark camera 26, and a control device 34. The tray-type component supply device 78 supplies electronic components 88 marked with identification marks 96 for identifying polarity. The work heads 60 and 62 hold the electronic components 88 supplied by the tray-type component supply device 78 and mount them onto the circuit board 12. The mark camera 26 captures images of the identification marks 96 of the electronic components 88 mounted on the circuit board 12. The control device 34 determines whether the polarity of the electronic components 88 mounted on the circuit board 12 is normal based on the image data of the identification marks captured by the mark camera 26. Then, the work heads 60 and 62 hold the electronic components 88 that the control device 34 has determined to be abnormal, change the orientation of the electronic components 88 so that the polarity is normal, and then remount the electronic components 88 onto the circuit board 12. This allows electronic components 88 that were mounted on the circuit board 12 with incorrect polarity to be automatically remounted on the circuit board 12 with correct polarity.

[0052] Furthermore, the work heads 60 and 62 have multiple suction nozzles 72, and are capable of holding multiple electronic components 88 using the multiple suction nozzles 72. The control device 34 determines whether the polarity of the electronic component 88 mounted on the circuit board 12 by the first suction nozzle among the multiple suction nozzles 72 is normal. If the work heads 60 and 62 determine that the polarity of the electronic component 88 is not normal, they hold the electronic component 88 that was determined to be abnormal with the first suction nozzle before mounting the electronic component 88 held by the second suction nozzle among the multiple suction nozzles 72 to the circuit board 12, and then remount that electronic component 88 to the circuit board 12. This prevents interference between components when remounting the electronic component mounted by the first suction nozzle.

[0053] The component mounting apparatus 10 is equipped with a parts camera 28 that images the terminals 92 of electronic components 88 held by work heads 60 and 62. Before mounting the held electronic components 88 to the circuit board 12, the work heads 60 and 62 use the pre-mounting image data of the terminals 92 of the electronic components 88, captured by the parts camera 28, to mount the electronic components 88 to the circuit board 12. The control device 34 determines whether the polarity of the electronic components 88 mounted on the circuit board 12 is normal based on the image data of the identification marks 96 captured by the mark camera 26. The work head then selectively performs a first remounting operation and a second remounting operation. The first remounting operation is an operation in which the work head holds the electronic component that it has determined to be abnormal and remounts the electronic component to the circuit board 12 using the re-image data of the electrodes of the electronic component, captured by the parts camera 28 before the held electronic component is remounted to the circuit board 12. The second re-mounting operation involves the work head holding the electronic component 88 that has been determined to be abnormal, and re-mounting the electronic component onto the circuit board using the pre-mounting image data. This allows the terminal 92 to be reliably inserted into the through hole 130 during the re-mounting operation if the first re-mounting operation is selected, and shortens the time required for the re-mounting operation if the second re-mounting operation is selected.

[0054] The mark camera 26 re-images the identification mark 96 of the electronic component 88 that has been re-mounted on the circuit board 12 by the work heads 60 and 62. The control device 34 then determines whether the polarity of the electronic component re-mounted on the circuit board 12 is correct based on the image data of the identification mark 96 re-imaged by the mark camera 26. This ensures that the electronic component 88 is reliably mounted on the circuit board 12 with the correct polarity.

[0055] In the component mounting device 10, for electronic components 88 supplied from the tray 86, the control device 34 performs a remounting operation in which it holds down any components it determines to be abnormal and remounts them onto the circuit board 12. On the other hand, for radial components 102 supplied from the tape feeder 98, the polarity arrangement of the leads 108 of the radial component 102 is calculated based on the image data of the radial component 102 captured by the mark camera 26, and the mounting operation is performed in which the radial component 102 is mounted onto the circuit board 12 using the calculated polarity arrangement. In other words, whether or not to perform the remounting operation in which it holds down any components it determines to be abnormal and remounts them onto the circuit board 12 is set for each type of component. This makes it possible to mount various types of components onto the circuit board 12 with the correct polarity.

[0056] Furthermore, the present invention is not limited to the above embodiments, and can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. For example, in the above embodiment, a reattachment operation is performed on all electronic components 88 placed on the tray 86, in which the control device 34 holds down any components it determines to be abnormal and reattaches them to the circuit board 12. On the other hand, a reattachment operation may also be performed on electronic components 88 placed inside the dotted line 142 of the tray 86, in which the control device 34 holds down any components it determines to be abnormal and reattaches them to the circuit board 12. Furthermore, for electronic components 88 placed inside the dashed line 140 of the tray 86, the polarity arrangement of the terminals 92 of the electronic component 88 may be calculated based on imaging data, and an attachment operation may be performed on the electronic component 88 using the calculated polarity arrangement to attach it to the circuit board 12. Moreover, the reattachment operation is not limited to electronic components 88 supplied from the tray 86, but may also be performed on components supplied from various supply devices such as a feeder-type component supply device 80 or a loose component supply device 30, in which components it determines to be abnormal are held down and reattached to the circuit board 12.

[0057] Furthermore, in the above embodiment, electronic component 88 and radial component 102 are used as polarized components, but components having bumps or the like may be used as electrodes.

[0058] Furthermore, in the above embodiment, after the electronic component 88 is reinstalled, it is checked whether the polarity of the reinstalled electronic component 88 is normal. However, it is not necessary to check whether the polarity of the reinstalled electronic component 88 is normal after it has been reinstalled. This makes it possible to shorten the cycle time.

[0059] Furthermore, in the above embodiment, the first re-installation operation and the second re-installation operation are performed selectively, but only one of the first or second re-installation operation may be performed. [Explanation of Symbols]

[0060] 10: Component mounting machine (working machine) 12: Circuit board (substrate) 26: Mark camera (first imaging device) 28: Parts camera (second imaging device) 34: Control device 60: Work head (mounting head) 62: Work head (mounting head) 78: Tray-type component supply device (supply device) 88: Electronic component 92: Terminal (electrode) 96: Identification mark (identification information)

Claims

1. A supply device that supplies electronic components on which identification information for identifying polarity is written, A mounting head that holds the electronic components supplied by the aforementioned supply device and mounts them onto a circuit board, A first imaging device for capturing the identification information of electronic components mounted on a substrate, Control device and Equipped with, The control device is Based on the imaging data of the identification information captured by the first imaging device, it is determined whether or not the polarity of the electronic component mounted on the substrate is normal. The aforementioned mounting head is A work machine that holds an electronic component that has been determined to be abnormal by the control device, changes the orientation of the electronic component so that its polarity is correct, and then reattaches the electronic component to the circuit board.

2. The aforementioned mounting head is It has multiple holders, and it is possible to hold multiple electronic components with the multiple holders. The control device is The polarity of the electronic component mounted on the substrate is determined by one of the aforementioned holders, The aforementioned mounting head is The work machine according to claim 1, wherein, when the control device determines that the polarity of an electronic component is not normal, the control device holds the electronic component determined to be abnormal by the first holder among the plurality of holders, before mounting the electronic component held by the first holder among the plurality of holders to the substrate, and then remounts the electronic component to the substrate.

3. The aforementioned work machine is, The system includes a second imaging device for imaging the electrodes of an electronic component held by the mounting head, The aforementioned mounting head is Before mounting the electronic component to be held onto the substrate, the first imaging data of the electrodes of the electronic component, captured by the second imaging device, is used to mount the electronic component onto the substrate. The control device is Based on the imaging data of the identification information captured by the first imaging device, it is determined whether or not the polarity of the electronic component mounted on the substrate is normal. The aforementioned mounting head is The work machine according to claim 1, which selectively performs a reattachment operation in which an electronic component determined to be abnormal by the control device is held and the electronic component is reattached to the substrate using the first imaging data, and a reattachment operation in which an electronic component determined to be abnormal by the control device is held and the electronic component is reattached to the substrate using the second imaging data of the electrodes of the electronic component, which was imaged by the second imaging device before the held electronic component was reattached to the substrate.

4. The first imaging device is The identification information of the electronic component remounted on the substrate by the mounting head is captured again, The control device is The work machine according to claim 1, which determines whether or not the polarity of an electronic component mounted on a substrate is normal based on the imaging data of the identification information re-imaged by the first imaging device.

5. The work machine according to any one of claims 1 to 4, wherein the control device determines whether or not to perform a reattachment operation in which it holds an electronic component that has been determined to be abnormal and reattaches it to a circuit board, and this operation is set for each type of electronic component.

Images